Simulation of assembly line industrial robots has long been an area of great research interest. At
Fraunhofer-Chalmers Research Centre for Industrial Mathematics (FCC) a main objective has been
to automatically calculate valid motions - solving problems of inverse kinematics, path planning
and collision avoidance. In order to include human assembly in the simulation environment the
manikin project Intelligently Moving Manikin (IMMA) has been developed.
The IMMA project is able to calculate valid poses where problems such as balance, collision
avoidance and ergonomics has been taken into account. This master thesis improves the manikin
motion generation by limiting the velocity and acceleration, using the calculated poses as initial
values, and stating the problem as a numerical optimal control problem. The control signal is
optimised with respect to time and energy and is at the same time required to full conditions
on positions and limits of angular values, angular velocity and angular acceleration. All variables
included in the problem formulation are discretised using low order Galerkin approximations and the
nonlinear optimisation makes use of the open source interior point optimisation software Ipopt. The
result is a smooth and ecient manikin movement which is displayed using the IMMA visualisation
environment. The implementation is as general as possible in order to provide an optimisation
framework where the objective function, numerical integration method and the constraints are all
easily interchangeable.

BibTeX @mastersthesis{Gleeson2012,author={Gleeson, Daniel},title={Virtual Manikin Controller - Calculating the movement of a human model},abstract={Simulation of assembly line industrial robots has long been an area of great research interest. At
Fraunhofer-Chalmers Research Centre for Industrial Mathematics (FCC) a main objective has been
to automatically calculate valid motions - solving problems of inverse kinematics, path planning
and collision avoidance. In order to include human assembly in the simulation environment the
manikin project Intelligently Moving Manikin (IMMA) has been developed.
The IMMA project is able to calculate valid poses where problems such as balance, collision
avoidance and ergonomics has been taken into account. This master thesis improves the manikin
motion generation by limiting the velocity and acceleration, using the calculated poses as initial
values, and stating the problem as a numerical optimal control problem. The control signal is
optimised with respect to time and energy and is at the same time required to full conditions
on positions and limits of angular values, angular velocity and angular acceleration. All variables
included in the problem formulation are discretised using low order Galerkin approximations and the
nonlinear optimisation makes use of the open source interior point optimisation software Ipopt. The
result is a smooth and ecient manikin movement which is displayed using the IMMA visualisation
environment. The implementation is as general as possible in order to provide an optimisation
framework where the objective function, numerical integration method and the constraints are all
easily interchangeable.},publisher={Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system, Chalmers tekniska högskola},place={Göteborg},year={2012},series={Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden, no: 2012:30},keywords={Manikin, Motion generation, Optimal Control, Optimisation},}

RefWorks RT GenericSR ElectronicID 160328A1 Gleeson, DanielT1 Virtual Manikin Controller - Calculating the movement of a human modelYR 2012AB Simulation of assembly line industrial robots has long been an area of great research interest. At
Fraunhofer-Chalmers Research Centre for Industrial Mathematics (FCC) a main objective has been
to automatically calculate valid motions - solving problems of inverse kinematics, path planning
and collision avoidance. In order to include human assembly in the simulation environment the
manikin project Intelligently Moving Manikin (IMMA) has been developed.
The IMMA project is able to calculate valid poses where problems such as balance, collision
avoidance and ergonomics has been taken into account. This master thesis improves the manikin
motion generation by limiting the velocity and acceleration, using the calculated poses as initial
values, and stating the problem as a numerical optimal control problem. The control signal is
optimised with respect to time and energy and is at the same time required to full conditions
on positions and limits of angular values, angular velocity and angular acceleration. All variables
included in the problem formulation are discretised using low order Galerkin approximations and the
nonlinear optimisation makes use of the open source interior point optimisation software Ipopt. The
result is a smooth and ecient manikin movement which is displayed using the IMMA visualisation
environment. The implementation is as general as possible in order to provide an optimisation
framework where the objective function, numerical integration method and the constraints are all
easily interchangeable.PB Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system, Chalmers tekniska högskola,T3 Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden, no: 2012:30LA engLK http://publications.lib.chalmers.se/records/fulltext/160328.pdfOL 30